diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index b8d202acd1..d74c5b3488 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -112,6 +112,8 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
 
 #define CRASH_RECOVERY_DETECTION_DELAY_US 1000000  // 1 second delay before crash recovery detection is active after entering a self-level mode
 
+#define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
+
 PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 5);
 
 void resetPidProfile(pidProfile_t *pidProfile)
@@ -1230,10 +1232,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
         // Disable P/I appropriately based on the launch control mode
         if (launchControlActive) {
             // if not using FULL mode then disable I accumulation on yaw as
-            // yaw has a tendency to windup
-            if (launchControlMode != LAUNCH_CONTROL_MODE_FULL) {
-                pidData[FD_YAW].I = 0;
-            }
+            // yaw has a tendency to windup. Otherwise limit yaw iterm accumulation.
+            const int launchControlYawItermLimit = (launchControlMode == LAUNCH_CONTROL_MODE_FULL) ? LAUNCH_CONTROL_YAW_ITERM_LIMIT : 0;
+            pidData[FD_YAW].I = constrainf(pidData[FD_YAW].I, -launchControlYawItermLimit, launchControlYawItermLimit);
 
             // for pitch-only mode we disable everything except pitch P/I
             if (launchControlMode == LAUNCH_CONTROL_MODE_PITCHONLY) {